CN109270505B - Calibration device and method for calibrating vehicle sensor and vehicle - Google Patents
Calibration device and method for calibrating vehicle sensor and vehicle Download PDFInfo
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- CN109270505B CN109270505B CN201811083676.6A CN201811083676A CN109270505B CN 109270505 B CN109270505 B CN 109270505B CN 201811083676 A CN201811083676 A CN 201811083676A CN 109270505 B CN109270505 B CN 109270505B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The present disclosure relates to a calibration device, a method and a vehicle for calibrating a vehicle sensor, wherein the device comprises: the detector is used for transmitting a first detection signal, receiving a first echo signal and determining a first position parameter of the detector relative to the sensor according to the two signals; the reflecting part is used for reflecting a second detection signal emitted by the vehicle sensor to form a second echo signal, and the two signals are used for determining a second position parameter of the vehicle sensor relative to the reflecting part; and the controller is used for determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter and the relative positions of the detector and the reflecting part, and sending the third position parameter to the vehicle. Therefore, the vehicle can calibrate the vehicle sensor according to the third position parameter of the reflection part relative to the vehicle sensor determined by the calibration device and the second position parameter of the reflection part determined by the vehicle sensor, so that the precision of the vehicle sensor is improved, and the calibration speed is high.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a calibration device and method for calibrating a vehicle sensor and a vehicle.
Background
In the prior art, a device for calibrating a vehicle automatic driving environment perception sensor is a metal triangular cone and a tape measure, a calibration method is that the metal triangular cone is placed in front of a sensor to be calibrated on a target vehicle, the tape measure is used for measuring the actual position reference parameter of the metal triangular cone relative to the sensor of the target vehicle at a small point, and the sensor to be calibrated is calibrated according to the position reference parameter and the position perception parameter of the metal triangular cone relative to the sensor of the target vehicle, which is perceived by the sensor to be calibrated.
Disclosure of Invention
The invention aims to provide a calibration device and a method for calibrating a vehicle sensor and a vehicle.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a calibration apparatus for calibrating a vehicle sensor, the apparatus comprising:
the detector is used for transmitting a first detection signal to a vehicle sensor to be calibrated, receiving a corresponding first echo signal, and determining a first position parameter of the detector relative to the vehicle sensor according to the first detection signal and the first echo signal;
the reflecting part is used for reflecting a second detection signal emitted by the vehicle sensor to form a corresponding second echo signal, and the second detection signal and the second echo signal are used for determining a second position parameter of the vehicle sensor relative to the reflecting part;
and the controller is used for determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter determined by the detector and the relative positions of the detector and the reflecting part, and sending the third position parameter to the vehicle so as to enable the vehicle to calibrate the vehicle sensor according to the second position parameter and the third position parameter.
Optionally, the apparatus further comprises:
and the driving part is fixedly arranged opposite to the position of the reflecting part and is used for driving the reflecting part to rotate according to the control of the controller so as to adjust the position of the reflecting part.
Optionally, the detector is further configured to transmit a third detection signal to the vehicle, receive a corresponding third echo signal, and determine the profile information of the vehicle according to the third detection signal and the third echo signal;
the controller is further configured to match the profile information of the vehicle determined by the detector with pre-stored vehicle profile information to determine a vehicle model of the vehicle, determine the position information of the vehicle sensor to be calibrated according to the vehicle model, and control the driving part to act according to the position information of the vehicle sensor to be calibrated so as to drive the reflecting part to rotate to a position opposite to the vehicle sensor to be calibrated.
Optionally, the detector, the controller, the driving part and the reflecting part are stacked from bottom to top in sequence.
Optionally, the reflective portion is tapered.
Optionally, the apparatus further comprises a support for supporting the probe.
According to a second aspect of the present disclosure, there is provided a method for calibrating a vehicle sensor, the method comprising:
transmitting a first detection signal to a vehicle sensor to be calibrated through a detector, receiving a corresponding first echo signal, and determining a first position parameter of the detector relative to the vehicle sensor according to the first detection signal and the first echo signal;
reflecting a second detection signal emitted by the vehicle sensor through a reflecting part to form a corresponding second echo signal, wherein the second detection signal and the second echo signal are used for the vehicle sensor to determine a second position parameter of the vehicle sensor relative to the reflecting part;
and determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter and the relative positions of the detector and the reflecting part, and sending the third position parameter to a vehicle so that the vehicle can calibrate the vehicle sensor according to the second position parameter and the third position parameter.
Optionally, before the first detection signal is transmitted to the vehicle sensor to be calibrated by the detector, the method further includes:
transmitting a third detection signal to the vehicle through the detector, receiving a corresponding third echo signal, and determining the contour information of the vehicle according to the third detection signal and the third echo signal;
matching the contour information of the vehicle determined by the detector with pre-stored vehicle contour information to determine the vehicle model of the vehicle, and determining the position information of the vehicle sensor to be calibrated according to the vehicle model;
and controlling the driving part to act according to the position information of the vehicle sensor to be calibrated so as to drive the reflecting part to rotate to the position opposite to the vehicle sensor to be calibrated.
According to a third aspect of the present disclosure, there is provided a vehicle comprising a vehicle sensor, a communication module and a sensor calibration module, wherein:
the vehicle sensor is used for transmitting a detection signal to a reflection part of the calibration device, receiving a corresponding echo signal and determining a position parameter of the vehicle sensor relative to the reflection part according to the detection signal and the echo signal;
the communication module is used for receiving the position parameters of the reflecting part relative to the vehicle sensor, which are sent by the calibration device;
the sensor calibration module is used for calibrating the vehicle sensor according to the position parameter determined by the vehicle sensor and the position parameter received by the communication module.
According to a fourth aspect of the present disclosure, there is provided a method for calibrating a vehicle sensor, the method comprising:
transmitting a detection signal to a reflection part of a calibration device through a vehicle sensor, receiving a corresponding echo signal, and determining a position parameter of the vehicle sensor relative to the reflection part according to the detection signal and the echo signal;
receiving the position parameter of the reflecting part relative to the vehicle sensor, which is sent by the calibration device;
and calibrating the vehicle sensor according to the determined position parameter and the received position parameter.
In the above technical solution, a calibration apparatus for calibrating a vehicle sensor includes: the detector is used for emitting a first detection signal, receiving a first echo signal and determining a first position parameter of the detector relative to the sensor according to the two signals; the reflecting part is used for reflecting a second detection signal emitted by the vehicle sensor to form a second echo signal, and the two signals are used for determining a second position parameter of the vehicle sensor relative to the reflecting part; and the controller is used for determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter and the relative positions of the detector and the reflecting part, and sending the third position parameter to the vehicle. Therefore, the vehicle can calibrate the vehicle sensor to be calibrated according to the third position parameter of the reflection part relative to the vehicle sensor to be calibrated determined by the calibration device and the second position parameter of the reflection part relative to the vehicle sensor to be calibrated, so that the precision of the vehicle sensor to be calibrated is improved, and the calibration speed is high.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a block diagram of a calibration apparatus for calibrating a vehicle sensor according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a calibration apparatus for calibrating a vehicle sensor according to another embodiment of the present disclosure.
Fig. 3A is a schematic structural diagram of a calibration apparatus for calibrating a vehicle sensor according to an embodiment of the present disclosure.
Fig. 3B is a schematic structural diagram of a calibration apparatus for calibrating a vehicle sensor according to another embodiment of the present disclosure.
FIG. 4 is a flow chart of a method for calibrating vehicle sensors provided by an embodiment of the present disclosure.
FIG. 5 is a flow chart of a method for calibrating vehicle sensors provided by another embodiment of the present disclosure.
FIG. 6 is a flow chart of a method for calibrating vehicle sensors provided by another embodiment of the present disclosure.
Description of the reference numerals
1 detector 2 reflection part
3 controller 4 drive part
5 support 10 calibration device
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, when an element is said to be "fixed" to another element, it may be directly on the other element or one or more intervening elements may be present therebetween, unless otherwise specified. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description of the disclosure herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.
Referring to fig. 1, a calibration apparatus 10 for calibrating a vehicle sensor according to an embodiment of the present disclosure includes:
the detector 1 may be a radar (e.g., a laser radar, a millimeter wave radar, etc.), an infrared device, or the like. The detector 1 is used for transmitting a first detection signal to a vehicle sensor to be calibrated and receiving a corresponding first echo signal. The first detection signal may be a laser signal emitted by the detector 1, and the first echo signal is a signal reflected by the vehicle sensor after the first detection signal reaches the vehicle sensor. The vehicle sensor may be a radar, an infrared device, or the like. The detector 1 is further configured to determine a first position parameter of the detector 1 relative to the vehicle sensor based on the first detection signal and the first echo signal. Wherein the first position parameter is a relative position parameter of a geometric centre point of the outer surface of the probe 1 with respect to a geometric centre point of the outer surface of the vehicle sensor.
The reflecting portion 2, which may be a tapered metal, particularly a triangular-pyramid metal, is capable of reflecting the detection signal emitted by the vehicle sensor. The reflecting part 2 is made of metal, because the metal has strong reflecting capacity to the detection signal (especially radar signal), and the generated echo signal is strong, which is beneficial for the vehicle sensor to receive the corresponding echo signal. The reflection portion 2 may also be made of a non-metal material, such as a plastic material, as long as it can reflect the detection signal emitted by the vehicle sensor. The reflecting part 2 is set to be a triangular pyramid shape for the convenience of determining the geometric center point of the reflecting part 2, and the reflecting part 2 may be other metal with a regular shape, such as a square, a sphere, etc. The vehicle sensor to be calibrated transmits a second detection signal to the reflection part 2; the reflecting part 2 reflects the second detection signal to form a corresponding second echo signal; the vehicle sensor to be calibrated receives the second echo signal, and then determines a second position parameter of the vehicle sensor relative to the reflecting part 2 according to the second detection signal and the second echo signal. Wherein the second position parameter is a relative position parameter of a geometric center point of the outer surface of the vehicle sensor with respect to a geometric center point of the reflection portion 2.
The controller 3, which may be an industrial personal computer, for example, is connected to the detector 1, and is configured to determine a third position parameter of the reflection part 2 relative to the vehicle sensor to be calibrated according to the first position parameter determined by the detector 1 and the relative positions of the detector 1 and the reflection part 2. The detector 1 and the reflector 2 are relatively fixed, that is, the geometric center point of the outer surface of the detector 1 and the geometric center point of the reflector 2 are fixed. The relative position of the probe 1 and the reflector 2 is the relative position of the geometric center point of the outer surface of the probe 1 and the geometric center point of the reflector 2. The relative positions of the probe 1 and the reflecting portion 2 may be stored in the controller 3 in advance, or the probe 1 may transmit a probe signal to the reflecting portion 2 and receive a corresponding echo signal, and the probe 1 may determine the relative positions based on the probe signal and the echo signal. The controller 3 can determine a third position parameter of the reflector 2 relative to the vehicle sensor to be calibrated, based on the first position parameter and the relative positions of the detector 1 and the reflector 2. Wherein the third position parameter is a relative position parameter of the geometric center point of the reflection portion 2 with respect to the geometric center point of the outer surface of the vehicle sensor. The controller 3 further includes a wireless communication module, and the controller 3 sends the determined third position parameter to the vehicle through the wireless communication module, and the vehicle receives the second position parameter and the third position parameter, and then may calibrate the vehicle sensor according to the second position parameter and the third position parameter through a corresponding processor, for example, an Electronic Control Unit (ECU).
In general, the accuracy of the vehicle sensor varies with the time and temperature of use, and the vehicle sensor has a certain error after the time, so that the second position parameter determined by the vehicle sensor is a sensing parameter of the vehicle sensor for the position of the vehicle sensor relative to the reflection portion 2, and may be inaccurate due to the error of the vehicle sensor. The detector 1 of the calibration apparatus for calibrating a vehicle sensor provided by the embodiment of the present disclosure should be an instrument with higher accuracy, so that the first position parameter of the detector 1 determined by the detector 1 relative to the vehicle sensor to be calibrated should be a position reference parameter closer to an actual value, and further, according to the first position parameter and the relative positions of the detector 1 and the reflective portion 2, the determined third position parameter of the reflective portion 2 relative to the vehicle sensor to be calibrated should be accurate and a value closer to the actual value, which can be used as a position reference parameter for calibrating the vehicle sensor to be calibrated. Therefore, the vehicle can calibrate the vehicle sensor to be calibrated according to the second position parameter and the third position parameter. In addition, the specific manner of calibrating the vehicle sensor to be calibrated according to the second position parameter and the third position parameter is a technique known by those skilled in the art, and is not described herein again.
In the above technical solution, a calibration apparatus for calibrating a vehicle sensor includes: the detector is used for emitting a first detection signal, receiving a first echo signal and determining a first position parameter of the detector relative to the sensor according to the two signals; the reflecting part is used for reflecting a second detection signal emitted by the vehicle sensor to form a second echo signal, and the two signals are used for determining a second position parameter of the vehicle sensor relative to the reflecting part; and the controller is used for determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter and the relative positions of the detector and the reflecting part, and sending the third position parameter to the vehicle. Therefore, the vehicle can calibrate the vehicle sensor to be calibrated according to the third position parameter of the reflection part relative to the vehicle sensor to be calibrated determined by the calibration device and the second position parameter of the reflection part relative to the vehicle sensor to be calibrated, so that the precision of the vehicle sensor to be calibrated is improved, and the calibration speed is high.
Referring to fig. 2, as another embodiment of the present disclosure, the calibration apparatus for calibrating a vehicle sensor may further include a driving portion 4. The driving unit 4 is connected to the reflection unit 2 and the controller 3, and is fixed to the reflection unit 2. The driving portion 4 may be, for example, a pan/tilt head, connected to the controller 1, and configured to drive the reflection portion 2 to rotate according to the control of the controller 3, so as to adjust the position of the reflection portion 2, so that the reflection portion 2 can be used for treating the calibrated vehicle sensor, and thus, the reflection portion 2 can reflect the second detection signal emitted by the vehicle sensor to be calibrated more quickly and effectively.
In this embodiment, the probe 1 is further configured to transmit a third probe signal to the vehicle and receive a corresponding third echo signal. The detector 1 can determine point cloud data according to the third detection signal and the third echo signal, further determine the contour information of the vehicle, and send the contour information to the controller 3, and the controller 3 receives the contour information.
In addition, the controller 3 may store vehicle profile information in advance, where the vehicle profile information includes profile information of various vehicle models, so that the controller 3 may match the vehicle profile information determined by the detector 1 with the vehicle profile information stored in advance, and determine the vehicle model to which the vehicle sensor to be calibrated belongs. Since the positions of the vehicle sensors are fixed for each vehicle model, the controller 3 can determine the position information of the vehicle sensor to be calibrated according to the vehicle model. Then, the controller 3 can control the driving part 4 to operate according to the position information to drive the reflection part 2 to rotate to the position opposite to the vehicle sensor to be calibrated.
As shown in fig. 3A, 3B, the detector 1, the controller 3, the driving portion 4, and the reflector 2 may be stacked in this order from bottom to top.
As shown in fig. 3B, the calibration apparatus for calibrating a vehicle sensor as described above may further include a bracket 5, and the bracket 5 is disposed below the probe 1 for supporting the probe 1. In this way, the first detection signal emitted by the detector 1 can be made to reach the vehicle sensor, enabling the reflection portion 2 to be irradiated with the second detection signal emitted by the vehicle sensor.
Referring to FIG. 4, FIG. 4 is a flow chart illustrating a method for calibrating a vehicle sensor according to an exemplary embodiment, which is illustrated by applying the method for calibrating a vehicle sensor to a calibration device. Referring to FIG. 4, the method for calibrating vehicle sensors may include the steps of:
in step 401, a first detection signal is transmitted to a vehicle sensor to be calibrated through a detector, a corresponding first echo signal is received, and a first position parameter of the detector relative to the vehicle sensor is determined according to the first detection signal and the first echo signal;
in step 402, reflecting a second detection signal emitted by the vehicle sensor through the reflection part to form a corresponding second echo signal, wherein the second detection signal and the second echo signal are used for the vehicle sensor to determine a second position parameter of the vehicle sensor relative to the reflection part;
in step 403, a third position parameter of the reflecting part relative to the vehicle sensor is determined according to the first position parameter and the relative positions of the detector and the reflecting part, and the third position parameter is sent to the vehicle, so that the vehicle can calibrate the vehicle sensor according to the second position parameter and the third position parameter.
Referring to fig. 5, optionally, before step 401, the method further includes:
in step 404, transmitting a third detection signal to the vehicle through the detector, receiving a corresponding third echo signal, and determining the contour information of the vehicle according to the third detection signal and the third echo signal;
in step 405, matching the profile information of the vehicle determined by the detector with pre-stored vehicle profile information to determine the vehicle model of the vehicle, and determining the position information of the vehicle sensor to be calibrated according to the vehicle model;
in step 406, the driving portion is controlled to operate according to the position information of the vehicle sensor to be calibrated, so as to drive the reflection portion to rotate to the position opposite to the vehicle sensor to be calibrated.
Referring to FIG. 6, FIG. 6 is a flow chart illustrating a method for calibrating vehicle sensors according to an exemplary embodiment, which is illustrated in the context of the method for calibrating vehicle sensors being applied to a vehicle. Referring to FIG. 6, the method for calibrating vehicle sensors may include the steps of:
in step 601, transmitting a detection signal to a reflection part of the calibration device through a vehicle sensor, receiving a corresponding echo signal, and determining a position parameter of the vehicle relative to the reflection part according to the detection signal and the echo signal;
in step 602, receiving a position parameter of the reflecting part relative to the vehicle sensor, which is sent by the calibration device;
in step 603, the vehicle sensor is calibrated based on the position parameter of the vehicle sensor relative to the reflective portion and the position parameter of the reflective portion relative to the vehicle sensor.
With regard to the method in the above-described embodiment, the specific manner in which the respective steps are performed has been described in detail in the embodiment with respect to the apparatus, and will not be described in detail herein.
The disclosed embodiment also provides a vehicle, which comprises a vehicle sensor, a communication module and a sensor calibration module, wherein:
the vehicle sensor is used for transmitting a detection signal to the reflection part of the calibration device, receiving a corresponding echo signal and determining a position parameter of the vehicle sensor relative to the reflection part according to the detection signal and the echo signal;
the communication module is used for receiving the position parameters of the reflecting part relative to the vehicle sensor, which are sent by the calibration device;
the sensor calibration module is used for calibrating the vehicle sensor according to the position parameters determined by the vehicle sensor and the position parameters received by the communication module.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A calibration arrangement for calibrating a vehicle sensor, the arrangement comprising:
the detector is used for transmitting a first detection signal to a vehicle sensor to be calibrated, receiving a corresponding first echo signal, and determining a first position parameter of the detector relative to the vehicle sensor according to the first detection signal and the first echo signal;
the reflecting part is used for reflecting a second detection signal emitted by the vehicle sensor to form a corresponding second echo signal, and the second detection signal and the second echo signal are used for determining a second position parameter of the vehicle sensor relative to the reflecting part;
and the controller is used for determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter determined by the detector and the relative positions of the detector and the reflecting part, and sending the third position parameter to the vehicle so as to enable the vehicle to calibrate the vehicle sensor according to the second position parameter and the third position parameter.
2. The apparatus of claim 1, further comprising:
and the driving part is fixedly arranged opposite to the position of the reflecting part and is used for driving the reflecting part to rotate according to the control of the controller so as to adjust the position of the reflecting part.
3. The apparatus of claim 2, wherein the detector is further configured to transmit a third detection signal to the vehicle, receive a corresponding third echo signal, and determine the contour information of the vehicle according to the third detection signal and the third echo signal;
the controller is further configured to match the profile information of the vehicle determined by the detector with pre-stored vehicle profile information to determine a vehicle model of the vehicle, determine the position information of the vehicle sensor to be calibrated according to the vehicle model, and control the driving part to act according to the position information of the vehicle sensor to be calibrated so as to drive the reflecting part to rotate to a position opposite to the vehicle sensor to be calibrated.
4. The apparatus of claim 2, wherein the detector, the controller, the driving part, and the reflecting part are stacked from bottom to top in sequence.
5. The device of any one of claims 1-4, wherein the reflective portion is tapered.
6. The apparatus of any one of claims 1-4, further comprising a support for supporting the probe.
7. A method for calibrating a vehicle sensor, the method comprising:
transmitting a first detection signal to a vehicle sensor to be calibrated through a detector, receiving a corresponding first echo signal, and determining a first position parameter of the detector relative to the vehicle sensor according to the first detection signal and the first echo signal;
reflecting a second detection signal emitted by the vehicle sensor through a reflecting part to form a corresponding second echo signal, wherein the second detection signal and the second echo signal are used for the vehicle sensor to determine a second position parameter of the vehicle sensor relative to the reflecting part;
and determining a third position parameter of the reflecting part relative to the vehicle sensor according to the first position parameter and the relative positions of the detector and the reflecting part, and sending the third position parameter to a vehicle so that the vehicle can calibrate the vehicle sensor according to the second position parameter and the third position parameter.
8. The method of claim 7, wherein prior to transmitting the first detection signal by the detector to the vehicle sensor to be calibrated, the method further comprises:
transmitting a third detection signal to the vehicle through the detector, receiving a corresponding third echo signal, and determining the contour information of the vehicle according to the third detection signal and the third echo signal;
matching the contour information of the vehicle determined by the detector with pre-stored vehicle contour information to determine the vehicle model of the vehicle, and determining the position information of the vehicle sensor to be calibrated according to the vehicle model;
and controlling the driving part to act according to the position information of the vehicle sensor to be calibrated so as to drive the reflecting part to rotate to the position opposite to the vehicle sensor to be calibrated.
9. A vehicle comprising vehicle sensors, a communication module, and a sensor calibration module, wherein:
the vehicle sensor is used for transmitting a detection signal to a reflecting part of the calibration device as claimed in any one of claims 1 to 6, receiving a corresponding echo signal, and determining a position parameter of the vehicle sensor relative to the reflecting part according to the detection signal and the echo signal;
the communication module is used for receiving the position parameters of the reflecting part relative to the vehicle sensor, which are sent by the calibration device;
the sensor calibration module is used for calibrating the vehicle sensor according to the position parameter determined by the vehicle sensor and the position parameter received by the communication module.
10. A method for calibrating a vehicle sensor, the method comprising:
transmitting a detection signal to a reflecting part of the calibration device according to any one of claims 1 to 6 through a vehicle sensor, receiving a corresponding echo signal, and determining a position parameter of the vehicle relative to the reflecting part according to the detection signal and the echo signal;
receiving the position parameter of the reflecting part relative to the vehicle sensor, which is sent by the calibration device;
and calibrating the vehicle sensor according to the determined position parameter and the received position parameter.
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| CN112710341A (en) * | 2020-11-30 | 2021-04-27 | 广州文远知行科技有限公司 | Vehicle-mounted terminal, server, sensor calibration method and system |
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